German GRANDIS SRL sensors, GRANDIS SRL models, GRANDIS SRL prices

GRANDIS SRL sensors are devices that convert optical signals into electrical signals. Their operating principle is based on the photoelectric effect. The photoelectric effect refers to the phenomenon where electrons in a material absorb photon energy when light strikes certain substances, resulting in corresponding electrical effects. Based on the different manifestations of the photoelectric effect, it is classified into three categories: external photoelectric effect, internal photoelectric effect, and photovoltaic effect. Photoelectric devices include phototubes, photomultiplier tubes, photoresistors, photodiodes, phototransistors, and solar cells. The performance and characteristic curves of photoelectric devices are analyzed.

GRANDIS SRL sensor introduction

Sensors used in robots to mimic tactile functions. Tactile sense is an important sensory function when humans directly interact with the external environment. Developing tactile sensors that meet requirements is one of the key technologies in robot development. With the advancement of microelectronics and the emergence of various organic materials, numerous development schemes for tactile sensors have been proposed. However, most are currently at the laboratory stage, with few achieving commercialization. Tactile sensors can be roughly classified by function into contact sensors, force-torque sensors, pressure sensors, and slip sensors.

GRANDIS SRL sensor classification

Slip sensors are used to detect and measure the slippage of objects when a robot grips or transports them. They are essentially displacement sensors. Based on whether they have sliding direction detection capability, they can be divided into three categories: non-directional, single-directional, and omni-directional. 1) Non-directional sensors include the probe-earphone type, which consists of a sapphire probe, a metal buffer, a piezoelectric Rochelle salt crystal, and a rubber buffer. Sliding causes the probe to vibrate, and the Rochelle salt converts this vibration into a corresponding electrical signal. The buffer serves to reduce noise. 2) Single-directional sensors include the drum photoelectric type. Slippage of the gripped object causes the drum to rotate, leading a photodiode to receive light signals transmitted through a code disk (mounted on the circular face of the drum). The object's slippage is measured via the drum's rotation angle signal. 3) Omni-directional sensors use metal spheres coated with insulating material, forming a latitude-longitude distribution of conductive and non-conductive areas. When the sensor contacts an object and slides, the sphere rotates, causing the conductive and non-conductive areas on its surface to alternately contact electrodes, thereby generating on/off signals. By counting and judging these on/off signals, the magnitude and direction of slippage can be determined. This type of sensor requires a high level of manufacturing precision.

GRANDIS SRL sensor applications

Tactile sensors are used to determine whether a robot (primarily its limbs) is in contact with external objects or to measure the characteristics of the contacted objects. Types of tactile sensors include microswitches, conductive rubber, carbon-impregnated sponge, carbon fiber, and pneumatic reset devices. 1) Microswitch: Composed of a spring and contacts. When the contacts touch an external object, they move away from the substrate, breaking the signal circuit and thereby detecting contact with the external object. The advantage of this normally closed (continuously conductive when not in contact) microswitch is ease of use and simple structure; the disadvantages are susceptibility to mechanical oscillation and contact oxidation. 2) Conductive rubber type: It uses conductive rubber as the sensing element. When the contacts touch an external object and are compressed, the conductive rubber is pressed, changing its resistance and thus altering the current flowing through it. The disadvantage of this sensor is that variations in the material formulation of the conductive rubber lead to inconsistent drift and hysteresis characteristics; the advantage is its flexibility. 3) Carbon-impregnated sponge type: It features an elastic body made of sponge mounted on a substrate, with carbon-impregnated sponge arranged in an array within the sponge. When the contacted object applies pressure, the resistance of the carbon-impregnated sponge decreases. Measuring the magnitude of the current flowing through the carbon-impregnated sponge determines the degree of pressure. This sensor can also be used as a pressure sensor. The advantages are simple structure, good elasticity, and ease of use. The disadvantages are that the uniformity of carbon distribution directly affects measurement results, and the recovery capability after compression is poor. 4) Carbon fiber type: It has a top layer of carbon fiber, a bottom layer of substrate, and urethane and metal electrodes installed in between. When contacting an external object, the carbon fiber is compressed and makes contact with the electrodes to conduct electricity. The advantage is good flexibility, allowing installation on curved surfaces of robotic arms, but hysteresis is significant. 5) Pneumatic reset type: It has a flexible insulating surface that deforms under pressure and uses compressed air as the resetting force when contact is broken. When in contact with an external object, the internal elastic dome (beryllium copper foil) contacts the lower contacts to conduct electricity. The advantages are good flexibility and high reliability, but a compressed air source is required.

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